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对网络控制系统(NCS)中传感器和控制器采用时钟驱动时,二者采样周期不相同的异步采样特性进行了分析.针对采样周期之比为有理数的情形,运用“提升(Shifting)”技术,将广义异步网络控制系统转化为多速率采样系统,并根据网络中短时延的不同情形建立了相应的离散状态空间模型.在此基础上,给出了该系统的可控性和可观性的充分条件,仿真结果表明了此模型的合理性.
When the sensors and controllers in the NCS are driven by clock, the asynchronous sampling characteristics of the two sampling periods are analyzed.For the case of rational numbers in the sampling period, we use “Shifting” Technology, the generalized asynchronous network control system is transformed into a multi-rate sampling system, and the corresponding discrete state space model is established according to the different situations of short-time delay in the network.On this basis, the controllability and considerable The sufficient condition of the property, the simulation results show the rationality of this model.